For the problem of learning sparse Gaussian graphical models, it is desirable to obtain both sparse structures as well as good parameter estimates. Classical techniques, such as optimizing the l1-regularized maximum ...

Real-world dynamical variations make adaptive control of time-varying systems highly relevant. However, most adaptive control literature focuses on analyzing systems where the uncertainty is represented as a weighted linear ...

Most current Model Reference Adaptive Control
(MRAC) methods rely on parametric adaptive elements, in
which the number of parameters of the adaptive element are
fixed a priori, often through expert judgment. An example ...

In many distributed sensing applications it is likely that only a few agents will have valuable information at any given time. Since
wireless communication between agents is resource-intensive, it is important to ensure ...

In many distributed sensing applications, not all agents have valuable information
at all times. Therefore, requiring all agents to communicate at all times can be
resource intensive. In this work, the notion of Value ...

This paper presents a real-time path planning algorithm which can guarantee
probabilistic feasibility for autonomous robots subject to process noise and an
uncertain environment, including dynamic obstacles with uncertain ...

This paper considers the path planning problem for an autonomous vehicle in an
urban environment populated with static obstacles and moving vehicles with
uncertain intents. We propose a novel threat assessment module, ...

In a conference paper titled "Geometric Properties of Gradient Projection Anti-windup Compensated Systems," two main results were presented. The first is the controller state-output consistency property of gradient projection ...

The gradient projection anti-windup (GPAW) scheme was recently proposed as an anti-windup method for nonlinear multi-input-multi-output systems/controllers, the solution of which was recognized as a largely open problem ...

Classifying other agents’ intentions is a very complex task but it can be very essential in assisting (autonomous or human) agents in navigating safely in dynamic and possibly hostile environments. This paper introduces a ...

Approximate Dynamic Inversion has been established as a method to control minimum-phase, nonaffine-in-control systems [1]. In this report, we re-state the main results of [1], clarify some minor notational errors, and prove ...

This paper discusses the problem of a distributed network of agents attempting to agree on an imprecise probability over a network. Unique from other related work however, the agents must reach agreement while accounting ...

Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller ...

This paper presents vehicle models and test flight results for an autonomous fixed-wing airplane that is designed to take-off, hover, transition to and from level-flight modes, and perch on a vertical landing platform in ...